def __init__(self, controllermodule, config, q):
"""
Instantiates a new Controller.
:param controllermodule: A controller instance.
:param config: The parsed json defining a given patch
:param q: The message queue assigned to this worker
"""
signal.signal(signal.SIGINT, signal.SIG_IGN)
self.config = config
self.q = q
self.controller = controllermodule.Controller(config)
self.clocked = isinstance(self.controller, BaseClockedController)
# Setup the thread we are on
self.configure_thread()
#TODO: sync start time across threads
# Start absolute system time
self.t = precision_timer.getabsolutetime()
logservice.log(logservice.LOG_DEBUG, 'Start time for controller worker {0:.6f}'.format(self.t))
self.next_t = self.t
def run(self): """ Main entry point for the controller worker process. """ while 1: # Get current time self.t = precision_timer.getabsolutetime() # Perform periodic work, clocked or not if self.clocked: # Calculate next t if self.t >= self.next_t: self.controller.clock(self.t) self.calculate_next_t() # if next_t is more than 100ms, sleep for a bit if self.next_t - self.t > 0.025: precision_timer.absolutewait(self.t + 0.025) else: precision_timer.absolutewait(self.next_t) self.controller.loop(self.t) else: self.controller.loop(self.t) precision_timer.absolutewait(self.t + 0.025) # See if any commands are in the queue message = self.get_next_message() if message is not None: if message["type"] == controllermodel.MESSAGE_KILL: # Tell the controller to release resources self.controller.release() # And goodbye # TODO: this isnt exiting return 0 else: self.controller.message(message)